See the appDemoLoadScene function in AppDemoLoad.cpp for this scene (SID_AnimationNode) on how to create node animations and how to assign them to an SLNode instance. SLAnimation instances are created and controlled by the SLAnimManager. Its interface is in the menu Animation.

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General help:

Click and drag the left mouse button to rotate the scene.
Click and drag the middle mouse button to move sidewards/up-down.
Roll the mouse-wheel to move forward/backward.
Double click with the left mouse button to select an object.
Click the right mouse button to open the context menu.
Open and dock additional windows from the menu Infos.
See more example scenes over the menu File > Load Test Scene